/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "tim.h"
#include "RspTransmition.h"
#include "motor.h"
#include "servo.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
extern uint8_t isFreeRTOSSyson;
extern UART_HandleTypeDef huart4;
extern uint8_t Rxlen;
/* USER CODE END Variables */
osThreadId RspUART4ReceiveHandle;
osThreadId ChassisMoveHandle;
osSemaphoreId Uart_Recv_BinarySemHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void vRspUART4Receive(void const * argument);
void vChassisMoveTask(void const * argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* Create the semaphores(s) */
  /* definition and creation of Uart_Recv_BinarySem */
  osSemaphoreDef(Uart_Recv_BinarySem);
  Uart_Recv_BinarySemHandle = osSemaphoreCreate(osSemaphore(Uart_Recv_BinarySem), 1);

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of RspUART4Receive */
  osThreadDef(RspUART4Receive, vRspUART4Receive, osPriorityNormal, 0, 512);
  RspUART4ReceiveHandle = osThreadCreate(osThread(RspUART4Receive), NULL);

  /* definition and creation of ChassisMove */
  osThreadDef(ChassisMove, vChassisMoveTask, osPriorityNormal, 0, 512);
  ChassisMoveHandle = osThreadCreate(osThread(ChassisMove), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */

/* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_vRspUART4Receive */
/**
  * @brief  Function implementing the RspUART4Receive thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_vRspUART4Receive */
void vRspUART4Receive(void const * argument)
{
  /* USER CODE BEGIN vRspUART4Receive */
  /* Infinite loop */
  //uint16_t CntTimes = 0;
  for(;;)
  {
      /*
      if(CntTimes > 100) 
      {
          HAL_UART_Transmit_DMA(&huart4,(uint8_t*)"TaskOne\n",8);
          CntTimes = 0;
      }
      CntTimes ++;
      */
      
      if(Rxlen == 0) HAL_UART_Transmit_DMA(&huart4,(uint8_t*)"NoInput\n",8);
      RspReceivedOperation();
      
      osDelay(100);
      
  }
  /* USER CODE END vRspUART4Receive */
}

/* USER CODE BEGIN Header_vChassisMoveTask */
/**
* @brief Function implementing the ChassisMove thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_vChassisMoveTask */
void vChassisMoveTask(void const * argument)
{
  /* USER CODE BEGIN vChassisMoveTask */
  /* Infinite loop */
    
  //uint16_t CntTimes = 0;
  for(;;)
  {
      /*
      if(CntTimes > 50) 
      {
          HAL_UART_Transmit_DMA(&huart4,(uint8_t*)"TaskTwo\n",8);
          CntTimes = 0;
      }
      CntTimes ++;
*/
      
      osDelay(7);
//      osDelay(250);
  }
  /* USER CODE END vChassisMoveTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */
